Airframe of a volitant body

ABSTRACT

Systems, methods, and apparatuses for an airframe of a volitant body are presented herein. An apparatus may include a body having a normal axis. The body comprising a central air passage communicating through the body along the normal axis of the body. The central air passage may have an inlet at a first end of the body and an outlet at a second end of the body, the second end being opposite the first end. The central air passage may form an interior surface of the body. The central air passage permitting a flow of air through the body via the central air passage. The inlet may be formed to produce a Venturi effect in the flow of air passing through the central air passage from the inlet to the outlet by choking the flow of air at the inlet.

FIELD OF THE DISCLOSURE

This disclosure relates to an airframe of a volitant body, and systemsand method to control the volitant body.

BACKGROUND

Quadcopters, sometimes called drones, are becoming increasingly popularfor both recreational and commercial use. Drones may be autonomous,remote-controlled, semi-autonomous, and/or controlled by othertechniques. Drones are typically complex devices that use exposedspinning propellers and/or plastic rail guards in the same plane as thepropellers to provide a minimal form of protection. Though they canmaintain efficiency, the configurations of exposed propellers and/orusing plastic rail guards may be unsafe. Upon collision of the dronewith a user, the exposed spinning propellers may cause bodily harm.

SUMMARY

Some manufactures may encase a drone, or portions thereof, in aprotective cage. The cage may expose the drone as the object ofinterest. That is, the cage is typically built for the specific purposeof encasing the drone for safety, but not hiding the drone entirelybecause users still need to see the drone itself to properly control itremotely from a distance. However, the cage may create turbulence andthus reduce thrust efficiency.

Certain racing drones, called “whoops”, shroud each propeller slightlyto maintain airflow and lift, but may be sized to enable high speedmovement—a priority of a racing drone. Further, exposed spinningpropellers may not hide the fact a drone is being used as a source oflevitation and/or thrust. For some, drone-based toys may not beaesthetically pleasing because they look similar to their commercialcounterparts. The propellers may be exposed for efficiency, but the toysmay be deemed too dangerous for young users. Lastly, the toys are proneto breaking upon crashing or collision.

One or more aspects of the present disclosure relate to an airframe of avolitant body. One or more aspects of the present disclosure relate tosystems, apparatuses, and methods of controlling a volitant body. Anairframe may be configured to provide a concealed propulsion system. Theairframe with the propulsion system may form a volitant body. Theairframe may be configured to create a Venturi effect into a drone-likepropulsion system. In accordance with one or more implementations of thepresent disclosure, the airframe may be much larger than the propulsionsystem itself (e.g., up to five times larger or even larger) while stillmaintaining airflow requirements for thrust, lift, and/ormaneuverability via the propulsion system. In some implementations, theconfiguration of the airframe may result in the volitant bodyexperiencing relatively slower speed movement than typically associatedwith use of a cage and/or shrouds, however with relatively increasedstability and/or ability to hold position. Using a similar propellersetup as a whoop and/or other drone, while structurally enhancing theVenturi effect, the airframe may maintain dynamic thrust andperformance, with acceptable maneuverability in the volitant body. Oneor more aspects of the present disclosure takes advantage of fastmaneuvering thrust of a racing-style drone combined with a structurethat slows motion and promotes stability at speed, but allows fastmotion to correct its attitude while stationary. In other words:responsiveness at low speed to maintain static position in space(hover), stability/resistance at high speed to make it easy to fly.

In accordance with one or more configurations of the airframe and/orvolitant body, one or more physical objects may be placed in and/or onthe airframe. The placement of the one or more physical object mayvisually hiding the propulsion system. This may cause onlookers toperceive as if the one or more physical objects are “flying” and/orcontrolling the volitant body. For example, a physical object maycomprise a toy figurine so that placement in and/or on the airframe maycause onlookers to perceive as if the toy figurine is flying/controllingthe volitant body

With the airflow efficiencies maintained, the airframe may be flownindoors or outdoors in light winds. The airframe may be solid. Theairframe may be made out of relatively light materials such as one ormore of polystyrene, wood (balsa), light plastics, and/or othermaterials.

One or more implementations of an airframe of a volitant body mayinclude one or more components. The airframe of a volitant body maycomprise a body. The body of the airframe may be defined with respect toa normal axis and/or other axes. The body may comprise a central airpassage and/or other components. The central air passage may communicatethrough the body along the normal axis of the body. Along the normalaxis of the body may include coaxially aligned with and/or parallel tothe normal axis.

The body of the airframe may have a first end, a second end, and/orother features. The second end of the body may be opposite the firstend. The central air passage may have an inlet at the first end of thebody and/or an outlet at the second end of the body. The central airpassage may form an interior surface of the body. The central airpassage may permit a flow of air through the body of the airframe viathe central air passage. The inlet may be formed to produce a Venturieffect in the flow of air passing through the central air passage fromthe inlet to the outlet by choking the flow of air at the inlet.

The airframe may take advantage of high power drone propulsion systems(compared to existing designs) that require relatively good laminarairflow that the structure of the airframe of the present disclosureprovides. The airframe may hide the propulsion system from user sight.The airframe may cause the user and/or other onlookers to perceive anobject attached in and/or on the airframe to appear as if the object ismagically flying the volitant body. The airframe may carry aconsiderably more amount of weight than typical drones of the same size.The airframe may carry a propulsion system that is more compact. Theairframe may be safer, may survive temporary collisions and bumps,and/or may be caught in the hand or tossed during launch without dangerof being cut by a propeller.

As used herein, any association (or relation, or reflection, orindication, or correspondence) involving servers, processors, clientcomputing platforms, and/or another entity or object that interacts withany part of the system and/or plays a part in the operation of thesystem, may be a one-to-one association, a one-to-many association, amany-to-one association, and/or a many-to-many association or N-to-Massociation (note that N and M may be different numbers greater than 1).

As used herein, the term “obtain” (and derivatives thereof) may includeactive and/or passive retrieval, determination, derivation, transfer,upload, download, submission, and/or exchange of information, and/or anycombination thereof. As used herein, the term “effectuate” (andderivatives thereof) may include active and/or passive causation of anyeffect, both local and remote. As used herein, the term “determine” (andderivatives thereof) may include measure, calculate, compute, estimate,approximate, generate, and/or otherwise derive, and/or any combinationthereof.

These and other features, and characteristics of the present technology,as well as the methods of operation and functions of the relatedelements of structure and the combination of parts and economies ofmanufacture, will become more apparent upon consideration of thefollowing description and the appended claims with reference to theaccompanying drawings, all of which form a part of this specification,wherein like reference numerals designate corresponding parts in thevarious figures. It is to be expressly understood, however, that thedrawings are for the purpose of illustration and description only andare not intended as a definition of the limits of the invention. As usedin the specification and in the claims, the singular form of “a”, “an”,and “the” include plural referents unless the context clearly dictatesotherwise.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a view of an airframe, in accordance with one or moreimplementations.

FIG. 2 illustrates a view of the airframe, in accordance with one ormore implementations.

FIG. 3 illustrates a view of an arrangement comprising an airframe and apropulsion system, in accordance with one or more implementations.

FIG. 4 illustrates a view of the arrangement, in accordance with one ormore implementations.

FIG. 5 illustrates a view of an implementation of the arrangement inflight.

FIG. 6 illustrates a propulsion system, in accordance with one or moreimplementations

FIG. 7 illustrates a method to control a volitant body, in accordancewith one or more implementations.

DETAILED DESCRIPTION

FIG. 1 illustrates a top perspective view of an airframe 100 of avolitant body, in accordance with one or more implementations. Airframe100 may be configured to conceal a propulsion system (not shown in FIG.1). The airframe 100 may be configured to facilitate the mounting of oneor more objects on one or more surfaces of the airframe 100. By way ofnon-limiting illustration, a toy figurine, animatronic toy, and/or otherobject, may be mounted on a surface of the airframe 100 to provide avisual of the object controlling the volitant body.

FIG. 2 illustrates a side view of the airframe 100 of FIG. 1, inaccordance with one or more implementations. The propulsion system (notshown in FIG. 2) may be rigidly attached. In some implementations, thepropulsion system may be removably attached though indirect techniques,such as one or more of friction fit, snap fit, and/or other attachmenttechniques. In some implementations, the propulsion system may beremovably attached though direct attachment techniques, including one ormore fixtures, latches, and/or other attachment components.

Referring to FIG. 1, airframe 100 may be configured in a substantiallyhemispherical shape and/or other shapes. Airframe 100 may comprise abody 102 and/or other components. The body 102 may be defined withrespect to one or more of a normal axis 104, a longitudinal axis 124, alateral axis 122, and/or other axes. The normal axis 104 may be definedwith respect to a gravity vector and/or other reference. Body 102 maycomprise one or more of a central air passage 106, a set of side airflowpassages, a first end 110 a, a second end 110 b, an exterior surface120, an interior surface 121, one or more interior structural elements123, and/or other features. The second end 110 b may be opposite firstend 110 a.

Central air passage 106 may communicate through body 102 along normalaxis 104 of body 102. Central air passage 106 may communicate alongnormal axis 104 such that the central air passage 106 may be parallelto, and/or coaxially aligned with, normal axis 104. Central air passage106 may have an inlet 108 at the first end 110 a of body 102 and anoutlet 112 at the second end 110 b of body 102. Central air passage 106may form the interior surface 121 of body 102. Central air passage 106may permit and/or facilitate a flow of air through body 102 via centralair passage 106. In some implementations, a mesh netting and/or othermaterial may be placed over the first end 110 a and/or inlet 108 toconceal components housed within the body 102 without affecting the flowof air into the central air passage 106. The one or more interiorstructure elements 123 may include braces and/or other rigidizingcomponents spanning the central air passage 106 and/or other portions ofbody 102.

Inlet 108 may be formed to produce a Venturi effect in the flow of airpassing through central air passage 106 from inlet 108 to outlet 112. Byway of non-limiting illustration, inlet 108 may be formed and/orarranged to choke the flow of air at inlet 108. In some implementations,inlet 108 may taper from a wide end to a narrow end. The wide end may beadjacent the first end 110 a of body 102. The narrow end may be oppositethe wide end, e.g., closer to the outlet 112 side of the central airpassage 106. In some implementations, inlet 108 may taper from the wideend to the narrow end curvilinearly and/or in a straight line taper.Vanes (not shown) may be incorporated in the central air passage 106 byprotruding from the interior surface 121. The vanes may be orientedalong the normal axis 104. Oriented “along” the normal axis 104 mayinclude being parallel to, or substantially parallel to, the normal axis104. Vertically oriented vanes maybe present in the central air passage106.

In some implementations, the set of side airflow passages may includeone or more passages. The set of side airflow passages may include fourpassages and/or other quantity of passages. The set of side airflowpassages may include one or more of side airflow passage 114 a, sideairflow passage 114 b, side airflow passage 114 c (FIG. 2), and/or otherside airflow passages. The side airflow passage 114 b may be oppositethe side airflow passage 114 c (FIG. 2). The side airflow passages 114 amay be opposite a fourth side airflow passage (not shown in the views ofFIG. 1 and/or FIG. 2). In some implementations, a total area of an inletof a side airflow passage may not exceed about ⅓ (approx. 30%) of thetop inlet 108 area.

The side airflow passages may be evenly spaced and/or arranged aroundbody 102 and/or normal axis of body 104 such that individual sideairflow passages may be disposed in individual quadrants of the body102. Individual side airflow passages may extend substantiallyorthogonal to normal axis 104. Individual side airflow passages mayextend from individual side inlets on an exterior surface 120 of body102 to individual side outlets at interior surface 121.

For example, in FIG. 1, side airflow passage 114 a may extendsubstantially orthogonal to normal axis 104. Side airflow passage 114 aextending substantially orthogonal to normal axis 104 may include sideairflow passage 114 a extending along (e.g., parallel to and/orcoaxially aligned with) longitudinal axis 124. Side airflow passage 114a may extend from side inlet 116 a to side outlet 118 a. Moreover, asshown in FIG. 1, side airflow passage 114 b may extend substantiallyorthogonal to normal axis 104. Side airflow passage 114 b extendingsubstantially orthogonal to normal axis 104 may include side airflowpassage 114 b extending along (e.g., parallel to and/or coaxiallyaligned with) lateral axis 122. Side airflow passage 114 b may extendfrom side inlet 116 b to side outlet 118 b. Other side airflow passagesmay be similarly formed. As a result, the individual side airflowpassages may permit individual flows of air from an ambient environmentinto central air passage 106. The flow of air through the side airflowpassages may make up for any airflow reductions through inlet 108 shouldone or more objects be positioned at or near inlet 108.

In some implementations, body 102 may include one or more mountingcomponents configured to mount a propulsion system to body 102substantially within central air passage 106. As a result, activatingthe propulsion system may cause the flow of air through body 102 viacentral air passage 106.

In some implementations, central air passage 106 may have asubstantially square cross sectional profile (see, e.g., FIGS. 3-5)and/or other shaped cross sectional profiles. In some implementations,the cross sectional profile of the central air passage 106 may bedimensioned to maximize a propeller size of the propellers/rotors of thepropulsion system. Those skilled in the art may recognize that theoverall size and/or dimension of body 102 may be varied to achieve adesired power-to-weight ratio given a particular propulsion system.

Referring to FIG. 1, in some implementations, body 102 may have asubstantially hemispherical shape forming a portion of exterior surface120 which is curved and an exterior base surface 120 a which may besubstantially flat. The exterior base surface 120 a may be disposed atfirst end 110 a of body 102. The term “base” in “exterior base surface”may refer to a base of the hemispherical shape itself, and notnecessarily the base of the body 102 itself. Instead, it is to be notedthat the exterior base surface 120 a may comprise a “top” and/or “upper”surface of the body 102 during use.

In FIG. 2, body 102 of airframe 100 may have a midline 126 (shown by theimaginary dashed line). The midline 126 may represent a plane and/orline that may be equally distant from first end 110 a and second end 110b. In some implementations, a propulsion system (not shown in FIG. 2)may be mounted below the midline 126. In some implementations, apropulsion system may be mounted such that it may be flush, orsubstantially flush, with the second end 110 b. In some implementations,a propulsion system may be mounted such that a center of mass of theairframe 100 including a propulsion system lies above the position ofthe propulsion system. In some implementations, a propulsion system maybe mounted such that a center of mass of the airframe 100 including apropulsion system lies below the position of the propulsion system.

FIG. 3 and FIG. 4 illustrate an arrangement 200 of a volitant body, inaccordance with one or more implementations. FIG. 3 illustrates a topperspective view of arrangement 200. FIG. 4 illustrates a bottomperspective view of arrangement 200.

Referring to FIG. 3, arrangement 200 may comprise one or more of apropulsion system 230, an airframe 240, an accessory 205, and/or othercomponents. Airframe 240 may be the same as or similar to airframe 100of FIG. 1 and/or FIG. 2. Likewise, airframe 240 may comprise a body 202having one or more of a normal axis 204, a lateral axis 222,longitudinal axis 224, and/or other features. Body 202 may comprise acentral air passage 206 communicating through the body 202 along normalaxis 204. Lateral axis 222 and longitudinal axis 224 may run across body202. Central air passage 206 may have an inlet 212 a at a first end 210a of body 202 and an outlet at a second end of the body 202 (see, e.g.,an outlet 212 at a second end 210 b of body 202 in FIG. 4). Second end210 b in FIG. 4 may be opposite first end 210 a of FIG. 3.

In FIG. 3, central air passage 206 may form an interior surface 214 a ofbody 202. An exterior surface 214 b may be an outer surface of body 202.Central air passage 206 may permit a flow of air through body 202 viacentral air passage 206. The inlet 212 a may be formed to produce aVenturi effect in the flow of air passing through the central airpassage from the inlet to outlet 212 (see, e.g., FIG. 4) by choking theflow of air at the inlet 212 a.

In some implementations, body 202 may have a substantially rectangularcross section defining a short side and a long side. The short side maydefine a direction of a lateral axis 222 of the body, and the long sidemay define a direction of a longitudinal axis 224 of body 202. Althoughnot shown, body 202 may include one or more side airflow passages thesame as or similar to body 102 of airframe 100 in FIG. 1 and/or FIG. 2.Accessory 205 may comprise a shroud and/or other physical object. Theaccessory may be attached to the body 202 to define a front of thearrangement 200. The accessory 205 may be a toy component to cause thearrangement 200 to appear like a fanciful aircraft.

In FIG. 3, propulsion system 230 may be mounted to body 202 and/orsubstantially disposed within central air passage 206. In someimplementations, the propulsion system 230 may include a controller forcontrolling one or more multi-bladed rotors 216 (see, e.g., FIG. 4)and/or propellers to generate lift, thrust, and/or otherwise propel thearrangement 200 in one or more directions. As a result, activatingpropulsion system 230 may cause the flow of air through body 202 viacentral air passage 206 from the first end 210 a to the second end 210 b(see, e.g., FIG. 4). Propulsion system 230 may be mounted to body 202such that a center of mass of arrangement 200 may be between propulsionsystem 230 and first end 210 a. That is, the propulsion system 230 maybe mounted so that the arrangement 200 may be considered slightly “topheavy.” In some implementations, propulsion system 230 may be mountedbelow a midline (not illustrated but the same as or similar to midline126 of FIG. 2) of body 202.

Referring to FIG. 4, in some implementations, propulsion system 230 maycomprise one or more multi-bladed rotors 216 configured to generateaerodynamic lift and/or thrust in one or more directions.

FIG. 5 illustrates an implementation of arrangement 200. As a result ofthe above described airframe 100 and/or airframe 240, arrangement 200may propel up, down, and/or in various other directions. Furthermore,arrangement 200 may have relatively slower speed movement but increasedstability and position hold while still maintaining dynamic performancewith acceptable maneuverability.

FIG. 5 further illustrates an object 502, such as a toy figurine,mounted within the airframe of the arrangement 200 to make it appear asif the object 502 is flying the arrangement 200. The object 502 mayresemble a character, such as one or more of a movie character, a gamecharacter, and/or other objects.

In some implementations, a propulsion system may include one or more ofa controller, one or more sensors, and/or other components. Thecontroller may be configured to control one or more multi-bladed rotorsand/or propellers to generate lift, thrust, and/or otherwise propel thearrangement 200 in one or more directions. In some implementations, thecontroller may obtain external inputs which may dictate the control ofthe arrangement 200 by the controller. By way of non-limitingillustration, inputs may be provided a leash 506 (or tether) attached tothe airframe, via, for example, an attachment component 504. The leash506 may comprise a flexible rope, string, and/or other devices. Theattachment component 504 may facilitate removable attachment and/orfixed attachment. By way of non-limiting illustration, the attachmentcomponent 504 and/or an end of the leash 506 may include magnets and/orother removable fasteners (e.g., snap fits, hook and loop fasteners,and/or other fasteners).

In some implementations, a user may provide inputs to the controller bypulling, tugging, and/or otherwise applying a force to the arrangement200 via leash 506. The inputs may cause the arrangement 200 to maneuverin a direction of an applied force and/or in other directions (e.g., ina direction opposite the applied force). In this manner, a user may beable to “walk” the arrangement 200 similar to walking an animal, withthe arrangement 200 in tow.

FIG. 6 illustrates a propulsion system 601 of a volitant body, inaccordance with one or more implementations. The propulsion system 601may include one or more of one or more controllers 602, one or moresensors 610, one or more bladed rotors 612 and/or propellors, electronicstorage 614, and/or other components. The one or more sensors 610 mayinclude one or more of one or more force sensors, one or more imagesensors (e.g., a camera), and/or other sensors.

The controller(s) 602 may include one or more physical processors 604configured by machine-readable instructions 605. Executing themachine-readable instructions 605 may cause the one or more physicalprocessors 604 to facilitate control of an arrangement comprising thepropulsion system 601 and an airframe (not shown in FIG. 6). Themachine-readable instructions 605 may include one or more computerprogram components. The one or more computer program components mayinclude one or more of a balance component 606, a detection component607, a maneuver component 608, and/or other components.

The balance component 606 may be configured to control the propulsionsystem 601 to balance the arrangement in place at a given altitude.Balancing may include applying thrust via one or more bladed rotors 612as needed to prevent the arrangement from flying in any given direction.This may be referred to as “holding” a position.

The detection component 607 may be configured to detect a force beingapplied to the arrangement via a leash (or tether) and/or other externalbody. The detection component 607 may be configured to determine forceinformation based on output signals of a force sensor and/or othersensors. The force information may include one or more of a direction ofthe force, a magnitude of the force, and/or other information.

The maneuver component 608 may be configured to control the propulsionsystem 601 based on the force information (e.g., the direction of force,magnitude of force, and/or other information) and/or other information.The maneuver component 608 may be configured to control the propulsionsystem 601 to propel the arrangement in a direction of the force.Propelling may include reducing the balancing control by balancecomponent 606 in the direction of the force. Propelling may includeapplying thrust via one or more bladed rotors 612 in the direction ofthe force. In some implementations, the thrust applied in the directionof the force may be proportional to a magnitude of the force. In someimplementations, reducing the balancing control by balance component 606and/or applying thrust may be variable such that the propelling of thearrangement in the direction of the force may be non-uniform in itsrelationship to the application of force. Non-uniform may includereducing the balancing control by balance component 606 and/or applyingthrust in a direction opposite to (and/or orthogonal to) the directionof the force. In this way the arrangement may more closely match theexperience of “walking” an animal which may not always be responsive tothe application of force.

In some implementations, detection component 607 may be configured todetect presence of a user. Detection may be based on output signals ofan image sensor (e.g., conveying image information defining one or moreimages). Detection may be based on one or more image-processingtechniques, for example, machine/computer vision. In someimplementations, the user may wear a targeting beacon which may bedetected to detect presence of the user. The beacon may include one ormore light sources. The one or more light sources may emit a light thatmay be detected via an image sensor. The light may be infrared lightand/or of a visible wavelength of light.

The detection component 607 may be configured to determine, based onoutput signals of the image sensor and/or other sensors, userinformation. The user information may include one or more of a distanceof the user from the arrangement, a direction of movement of the user, arelative velocity and/or acceleration of the user in the direction,and/or other information about the user relative the arrangement.

The maneuver component 608 may be configured to control the propulsionsystem 601 to propel the arrangement based on the user information.Control based on the user information may include propelling thearrangement in the direction of the movement of the user. Controllingthe propulsion system 601 to propel the arrangement in the direction ofthe movement of the user may include maintaining a given distance fromthe user and/or other control. Controlling the propulsion system 601 topropel the arrangement in the direction of the movement of the user mayinclude propelling the arrangement at a velocity and/or accelerationthat matches that of the user.

FIG. 7 illustrates a method 700 to control an arrangement comprising apropulsion system and an airframe forming a volitant body, in accordancewith one or more implementations. The operations of method 700 presentedbelow are intended to be illustrative. In some implementations, method700 may be accomplished with one or more additional operations notdescribed and/or without one or more of the operations discussed.Additionally, the order in which the operations of method 700 areillustrated in FIG. 7 and described below is not intended to belimiting. In some implementations, the order may be followed as shown.In some implementations, the method 700 may be performed automaticallyand/or autonomously such that a user may perceive the operations of themethod 700 are performed without direct user intervention.

In some implementations, method 700 may be implemented in one or moreprocessing devices (e.g., a computing platform, controller(s), a digitalprocessor, an analog processor, a digital circuit designed to processinformation, an analog circuit designed to process information, a statemachine, and/or other mechanisms for electronically processinginformation) and/or one or more other components. The one or moreprocessing devices may include one or more devices executing some or allof the operations of method 700 in response to instructions storedelectronically on an electronic storage medium. The one or moreprocessing devices may include one or more devices configured throughhardware, firmware, and/or software to be specifically designed forexecution of one or more of the operations of method 700.

An operation 702 may include controlling a propulsion system to balancethe arrangement in place at a given altitude. Balancing may includeapplying thrust via one or more bladed rotors as needed to prevent thearrangement from flying in any given direction. In some implementations,operation 702 may be performed by one or more physical processorsexecuting a computer program component the same as or similar to balancecomponent 606 (shown in FIG. 6 and described herein).

An operation 704 may including detecting a force being applied to thearrangement via a leash (or tether). Detecting a force may includedetermining, based on output signals of a force sensor, one or more of adirection of the force, a magnitude of the force, and/or otherinformation. In some implementations, operation 704 may be performed byone or more physical processors executing a computer program componentthe same as or similar to detection component 607 (shown in FIG. 6 anddescribed herein).

An operation 706 may include controlling the propulsion system based ondetected force (e.g., the direction, magnitude, and/or otherinformation) and/or other information. Controlling may includepropelling the arrangement in a direction of the force. In someimplementations, operation 706 may be performed by one or more physicalprocessors executing a computer program component the same as or similarto maneuver component 608 (shown in FIG. 6 and described herein).

In some implementations, operation 704 may including detecting presenceof a user and/or determining user information. Detection may be based onoutput signals of an image sensor (e.g., conveying image informationdefining one or more images). The user information may include one ormore of a distance of the user from the arrangement, a direction ofmovement of the user, a relative velocity and/or acceleration of theuser in the direction, and/or other information about the user relativethe arrangement. In some implementations, operation 704 may be performedby one or more physical processors executing a computer programcomponent the same as or similar to detection component 607 (shown inFIG. 6 and described herein).

In some implementations, operation 706 may include controlling thepropulsion system based on the user information. Controlling may includepropelling the arrangement in the direction of the movement of the user.Controlling may include maintaining a given distance from the userand/or other control. Controlling may include propelling the arrangementat a velocity and/or acceleration that matches that of the user. In someimplementations, operation 706 may be performed by one or more physicalprocessors executing a computer program component the same as or similarto maneuver component 608 (shown in FIG. 6 and described herein).

Although the present technology has been described in detail for thepurpose of illustration based on what is currently considered to be themost practical and preferred implementations, it is to be understoodthat such detail is solely for that purpose and that the technology isnot limited to the disclosed implementations, but, on the contrary, isintended to cover modifications and equivalent arrangements that arewithin the spirit and scope of the appended claims. For example, it isto be understood that the present technology contemplates that, to theextent possible, one or more features of any implementation can becombined with one or more features of any other implementation.

What is claimed is:
 1. An airframe of a volitant body comprising: a bodyhaving a normal axis, the body comprising: a central air passagecommunicating through the body along the normal axis of the body, thecentral air passage having an inlet at a first end of the body and anoutlet at a second end of the body, the second end being opposite thefirst end, the central air passage forming an interior surface of thebody, the central air passage permitting a flow of air through the bodyvia the central air passage; and wherein the inlet is formed to producea Venturi effect in the flow of air passing through the central airpassage from the inlet to the outlet by choking the flow of air at theinlet.
 2. The airframe of claim 1, wherein the inlet tapers from a wideend to a narrow end, the wide end being at the first end of the body,the narrow end being adjacent to the outlet.
 3. The airframe of claim 1,wherein the inlet tapers from the wide end to the narrow endcurvilinearly.
 4. The airframe of claim 1, wherein the body furthercomprises: a set of side airflow passages evenly spaced around the bodysuch that individual side airflow passages are disposed in individualquadrants, wherein the individual side airflow passages are disposedsubstantially orthogonal to the normal axis and extend from individualside inlets on an exterior surface of the body to individual sideoutlets at the interior surface, such that the individual side airflowpassages permit individual flows of air from an ambient environment intothe central air passage.
 5. The airframe of claim 1, wherein the bodyhas a substantially hemispherical shape forming an exterior curvedsurface and an exterior base surface, wherein the exterior base surfaceis disposed at the first end of the body.
 6. The airframe of claim 1,wherein the body includes one or more mounting components configured tomount a propulsion system to the body substantially within the centralair passage such that activating the propulsion system causes the flowof air through the body via the central air passage.
 7. The airframe ofclaim 1, wherein the central air passage has a substantially squarecross sectional profile.
 8. The airframe of claim 1, wherein the bodyhas a substantially rectangular cross section defining a short side anda long side, wherein the short side defines a direction of a lateralaxis of the body, and the long side defines a direction of alongitudinal axis of the body.
 9. An arrangement of a volitant bodycomprising: a propulsion system; and an airframe, the airframecomprising: a body having a normal axis, the body comprising: a centralair passage communicating through the body along the normal axis of thebody, the central air passage having an inlet at a first end of the bodyand an outlet at a second end of the body, the second end being oppositethe first end, the central air passage forming an interior surface ofthe body, the central air passage permitting a flow of air through thebody via the central air passage; and wherein the inlet is formed toproduce a Venturi effect in the flow of air passing through the centralair passage from the inlet to the outlet by choking the flow of air atthe inlet; and wherein the propulsion system is mounted to the body andsubstantially disposed within the central air passage such thatactivating the propulsion system causes the flow of air through the bodyvia the central air passage.
 10. The arrangement of the volitant body ofclaim 9, wherein the propulsion system comprises one or moremulti-bladed rotors configured to generate aerodynamic lift.
 11. Thearrangement of the volitant body of claim 9, wherein the propulsionsystem is mounted to the body such that a center of mass of thearrangement is between the propulsion system and the first end.
 12. Thearrangement of the volitant body of claim 9, wherein the propulsionsystem is mounted below a midline of the body.
 13. The arrangement ofthe volitant body of claim 9, further comprising: one or more physicalprocessors configured by machine-readable instructions to: control thepropulsion system to balance the arrangement in place at a givenaltitude; detect a force being applied to the arrangement; determineforce information, the force information including one or both of adirection of the force or a magnitude of the force; and control thepropulsion system based on force information such that the arrangementis propelled in the direction of the force.
 14. The arrangement of thevolitant body of claim 13, wherein the control of the propulsion systembased on force information propels the arrangement in the direction ofthe force in proportion to the magnitude of the force.
 15. Thearrangement of the volitant body of claim 9, further comprising: one ormore physical processors configured by machine-readable instructions to:control the propulsion system to balance the arrangement in place at agiven altitude; detect presence of a user; determine user information,the user information including one or more of a distance of the userfrom the arrangement, a direction of movement of the user, or a relativevelocity and/or acceleration of the user in the direction of movement;and control the propulsion system based on the user information, whereinthe control includes propelling the arrangement in the direction ofmovement of the user.
 16. The arrangement of the volitant body of claim15, wherein the control of the propulsion system based on the userinformation includes maintaining a given distance from the user and/orpropelling the arrangement at a velocity and/or acceleration thatmatches the user.
 17. A method to control a volitant body, the methodcomprising: controlling a propulsion system to balance the volitant bodyin place at a given altitude; detecting a force being applied to thevolitant body; determining force information, the force informationincluding one or both of a direction of the force or a magnitude of theforce; and control the propulsion system based on force information suchthat the volitant body is propelled in the direction of the force. 18.The method of claim 17, wherein the controlling the propulsion systembased on force information propels the volitant body in the direction ofthe force in proportion to the magnitude of the force.
 19. The method ofclaim 17, further comprising: detecting presence of a user; determininguser information, the user information including one or more of adistance of the user from the volitant body, a direction of movement ofthe user, or a relative velocity and/or acceleration of the user in thedirection of movement; and controlling the propulsion system based onthe user information, including propelling the volitant body in thedirection of movement of the user.
 20. The method of claim 19, whereinthe controlling the propulsion system based on the user informationincludes maintaining a given distance from the user and/or propellingthe arrangement at a velocity and/or acceleration that matches the user.